fix: expose /speaker/play and /speaker/tts to the zenoh router

LCAS · Feb 24, 2025 · dc2d19d · dc2d19d
1 parent da8d8c7
commit dc2d19d
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/configs/zenoh.json5 b/configs/zenoh.json5
@@ -92,12 +92,16 @@
             "/joint_states",
             "/ydlidar_ros2_driver_node/transition_event",
             "/initialpose",
-            "/cmd_vel"
+            "/cmd_vel",
+            "/speaker/play",
+            "/speaker/tts",
         ],
         subscribers: [
             "/cmd_vel",
             "/tf",
-            "/tf_static"
+            "/tf_static",
+            "/speaker/play",
+            "/speaker/tts",
         ],
         service_servers: [".*/.*_parameters"],
         service_clients: [],

diff --git a/src/limo_ros2 b/src/limo_ros2